mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-11-16 14:54:59 +00:00
2269 lines
99 KiB
C++
2269 lines
99 KiB
C++
/*!
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* \file gnss_flowgraph.cc
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* \brief Implementation of a GNSS receiver flow graph
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* \author Carlos Aviles, 2010. carlos.avilesr(at)googlemail.com
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* Luis Esteve, 2012. luis(at)epsilon-formacion.com
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* Carles Fernandez-Prades, 2014-2020. cfernandez(at)cttc.es
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* Álvaro Cebrián Juan, 2018. acebrianjuan(at)gmail.com
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* Javier Arribas, 2018. javiarribas(at)gmail.com
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*
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -------------------------------------------------------------------------
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*/
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#include "gnss_flowgraph.h"
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#include "GPS_L1_CA.h"
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#include "GPS_L2C.h"
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#include "GPS_L5.h"
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#include "Galileo_E1.h"
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#include "Galileo_E5a.h"
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#include "channel.h"
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#include "channel_fsm.h"
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#include "channel_interface.h"
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#include "configuration_interface.h"
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#include "gnss_block_factory.h"
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#include "gnss_block_interface.h"
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#include "gnss_satellite.h"
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#include "gnss_sdr_make_unique.h"
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#include "gnss_synchro_monitor.h"
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#include <boost/lexical_cast.hpp> // for boost::lexical_cast
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#include <boost/tokenizer.hpp> // for boost::tokenizer
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#include <glog/logging.h> // for LOG
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#include <gnuradio/basic_block.h> // for basic_block
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#include <gnuradio/filter/firdes.h> // for gr::filter::firdes
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#include <gnuradio/io_signature.h> // for io_signature
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#include <gnuradio/top_block.h> // for top_block, make_top_block
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#include <pmt/pmt_sugar.h> // for mp
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#include <algorithm> // for transform, sort, unique
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#include <cmath> // for floor
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#include <cstddef> // for size_t
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#include <exception> // for exception
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#include <iostream> // for operator<<
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#include <iterator> // for insert_iterator, inserter
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#include <memory> // for std::shared_ptr
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#include <set> // for set
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#include <sstream> // for std::stringstream
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#include <stdexcept> // for invalid_argument
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#include <thread> // for std::thread
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#include <utility> // for std::move
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#ifdef GR_GREATER_38
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#include <gnuradio/filter/fir_filter_blk.h>
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#else
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#include <gnuradio/filter/fir_filter_ccf.h>
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#endif
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#define GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS 8
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GNSSFlowgraph::GNSSFlowgraph(std::shared_ptr<ConfigurationInterface> configuration, std::shared_ptr<Concurrent_Queue<pmt::pmt_t>> queue) // NOLINT(performance-unnecessary-value-param)
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{
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connected_ = false;
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running_ = false;
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configuration_ = std::move(configuration);
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queue_ = std::move(queue);
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multiband_ = GNSSFlowgraph::is_multiband();
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init();
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}
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GNSSFlowgraph::~GNSSFlowgraph()
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{
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DLOG(INFO) << "GNSSFlowgraph destructor called";
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if (connected_)
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{
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GNSSFlowgraph::disconnect();
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}
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}
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void GNSSFlowgraph::start()
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{
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if (running_)
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{
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LOG(WARNING) << "Already running";
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return;
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}
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try
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{
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top_block_->start();
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Unable to start flowgraph";
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LOG(ERROR) << e.what();
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return;
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}
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running_ = true;
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}
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void GNSSFlowgraph::stop()
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{
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for (const auto& chan : channels_)
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{
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chan->stop_channel(); // stop the acquisition or tracking operation
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}
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top_block_->stop();
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running_ = false;
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}
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void GNSSFlowgraph::connect()
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{
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// Connects the blocks in the flow graph
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// Signal Source > Signal conditioner >> Channels >> Observables >> PVT
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LOG(INFO) << "Connecting flowgraph";
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if (connected_)
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{
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LOG(WARNING) << "flowgraph already connected";
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return;
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}
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#ifndef ENABLE_FPGA
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for (int i = 0; i < sources_count_; i++)
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{
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if (configuration_->property(sig_source_.at(i)->role() + ".enable_FPGA", false) == false)
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{
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try
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{
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sig_source_.at(i)->connect(top_block_);
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}
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catch (const std::exception& e)
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{
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LOG(INFO) << "Can't connect signal source block " << i << " internally";
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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}
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}
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// Signal Source > Signal conditioner >
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for (auto& sig : sig_conditioner_)
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{
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if (configuration_->property(sig->role() + ".enable_FPGA", false) == false)
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{
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try
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{
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sig->connect(top_block_);
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}
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catch (const std::exception& e)
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{
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LOG(INFO) << "Can't connect signal conditioner block internally";
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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}
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}
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#endif
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for (int i = 0; i < channels_count_; i++)
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{
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try
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{
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channels_.at(i)->connect(top_block_);
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Can't connect channel " << i << " internally";
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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}
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try
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{
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observables_->connect(top_block_);
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Can't connect observables block internally";
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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// Signal Source > Signal conditioner >> Channels >> Observables > PVT
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try
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{
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pvt_->connect(top_block_);
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Can't connect PVT block internally";
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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DLOG(INFO) << "blocks connected internally";
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// Signal Source (i) > Signal conditioner (i) >
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#ifndef ENABLE_FPGA
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int RF_Channels = 0;
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unsigned int signal_conditioner_ID = 0;
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for (int i = 0; i < sources_count_; i++)
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{
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try
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{
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// TODO: Remove this array implementation and create generic multistream connector
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// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
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if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
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{
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// Multichannel Array
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std::cout << "ARRAY MODE\n";
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for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
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{
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std::cout << "connecting ch " << j << '\n';
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top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
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}
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}
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else
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{
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// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
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// Include GetRFChannels in the interface to avoid read config parameters here
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// read the number of RF channels for each front-end
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RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
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for (int j = 0; j < RF_Channels; j++)
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{
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// Connect the multichannel signal source to multiple signal conditioners
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// GNURADIO max_streams=-1 means infinite ports!
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DLOG(INFO) << "sig_source_.at(i)->get_right_block()->output_signature()->max_streams()=" << sig_source_.at(i)->get_right_block()->output_signature()->max_streams();
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DLOG(INFO) << "sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()=" << sig_conditioner_.at(signal_conditioner_ID)->get_left_block()->input_signature()->max_streams();
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if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1 or sig_source_.at(i)->get_right_block()->output_signature()->max_streams() == -1)
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{
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if (sig_conditioner_.size() > signal_conditioner_ID)
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{
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LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j;
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top_block_->connect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
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}
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}
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else
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{
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if (j == 0)
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{
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// RF_channel 0 backward compatibility with single channel sources
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LOG(INFO) << "connecting sig_source_ " << i << " stream " << 0 << " to conditioner " << j;
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top_block_->connect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
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}
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else
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{
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// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
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LOG(INFO) << "connecting sig_source_ " << i << " stream " << j << " to conditioner " << j;
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top_block_->connect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
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}
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}
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signal_conditioner_ID++;
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}
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}
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Can't connect signal source " << i << " to signal conditioner " << i;
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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}
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DLOG(INFO) << "Signal source connected to signal conditioner";
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#endif
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#if ENABLE_FPGA
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if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
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{
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// connect the signal source to sample counter
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// connect the sample counter to Observables
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try
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{
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double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
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if (fs == 0.0)
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{
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LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
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std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file\n";
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throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
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}
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int observable_interval_ms = configuration_->property("GNSS-SDR.observable_interval_ms", 20);
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ch_out_sample_counter_ = gnss_sdr_make_sample_counter(fs, observable_interval_ms, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
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top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter_, 0);
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top_block_->connect(ch_out_sample_counter_, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Can't connect sample counter";
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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}
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else
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{
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// create a hardware-defined gnss_synchro pulse for the observables block
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try
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{
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double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
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if (fs == 0.0)
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{
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LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
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std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file\n";
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throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
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}
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int observable_interval_ms = configuration_->property("GNSS-SDR.observable_interval_ms", 20);
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ch_out_fpga_sample_counter_ = gnss_sdr_make_fpga_sample_counter(fs, observable_interval_ms);
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top_block_->connect(ch_out_fpga_sample_counter_, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Can't connect FPGA sample counter";
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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}
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#else
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// connect the signal source to sample counter
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// connect the sample counter to Observables
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try
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{
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double fs = static_cast<double>(configuration_->property("GNSS-SDR.internal_fs_sps", 0));
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if (fs == 0.0)
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{
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LOG(WARNING) << "Set GNSS-SDR.internal_fs_sps in configuration file";
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std::cout << "Set GNSS-SDR.internal_fs_sps in configuration file\n";
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throw(std::invalid_argument("Set GNSS-SDR.internal_fs_sps in configuration"));
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}
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int observable_interval_ms = configuration_->property("GNSS-SDR.observable_interval_ms", 20);
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ch_out_sample_counter_ = gnss_sdr_make_sample_counter(fs, observable_interval_ms, sig_conditioner_.at(0)->get_right_block()->output_signature()->sizeof_stream_item(0));
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top_block_->connect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter_, 0);
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top_block_->connect(ch_out_sample_counter_, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << "Can't connect sample counter";
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LOG(ERROR) << e.what();
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top_block_->disconnect_all();
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return;
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}
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#endif
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// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
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std::vector<bool> signal_conditioner_connected;
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for (size_t n = 0; n < sig_conditioner_.size(); n++)
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{
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signal_conditioner_connected.push_back(false);
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}
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for (int i = 0; i < channels_count_; i++)
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{
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#ifndef ENABLE_FPGA
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int selected_signal_conditioner_ID = 0;
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bool use_acq_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
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uint32_t fs = configuration_->property("GNSS-SDR.internal_fs_sps", 0);
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if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
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{
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try
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{
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selected_signal_conditioner_ID = configuration_->property("Channel" + std::to_string(i) + ".RF_channel_ID", 0);
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}
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catch (const std::exception& e)
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{
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LOG(WARNING) << e.what();
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}
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try
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{
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// Enable automatic resampler for the acquisition, if required
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if (use_acq_resampler == true)
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{
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// create acquisition resamplers if required
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double resampler_ratio = 1.0;
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double acq_fs = fs;
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// find the signal associated to this channel
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switch (mapStringValues_[channels_.at(i)->implementation()])
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{
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case evGPS_1C:
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acq_fs = GPS_L1_CA_OPT_ACQ_FS_SPS;
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break;
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case evGPS_2S:
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acq_fs = GPS_L2C_OPT_ACQ_FS_SPS;
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break;
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case evGPS_L5:
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acq_fs = GPS_L5_OPT_ACQ_FS_SPS;
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break;
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case evSBAS_1C:
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acq_fs = GPS_L1_CA_OPT_ACQ_FS_SPS;
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break;
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case evGAL_1B:
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acq_fs = GALILEO_E1_OPT_ACQ_FS_SPS;
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break;
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case evGAL_5X:
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acq_fs = GALILEO_E5A_OPT_ACQ_FS_SPS;
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break;
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case evGLO_1G:
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case evGLO_2G:
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case evBDS_B1:
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case evBDS_B3:
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acq_fs = fs;
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break;
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default:
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break;
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}
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if (acq_fs < fs)
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{
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// check if the resampler is already created for the channel system/signal and for the specific RF Channel
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std::string map_key = channels_.at(i)->implementation() + std::to_string(selected_signal_conditioner_ID);
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resampler_ratio = static_cast<double>(fs) / acq_fs;
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int decimation = floor(resampler_ratio);
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while (fs % decimation > 0)
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{
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decimation--;
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};
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double acq_fs_decimated = static_cast<double>(fs) / static_cast<double>(decimation);
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if (decimation > 1)
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{
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// create a FIR low pass filter
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std::vector<float> taps;
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// float beta = 7.0;
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// float halfband = 0.5;
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// float fractional_bw = 0.4;
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// float rate = 1.0 / static_cast<float>(decimation);
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//
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// float trans_width = rate * (halfband - fractional_bw);
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// float mid_transition_band = rate * halfband - trans_width / 2.0;
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//
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// taps = gr::filter::firdes::low_pass(1.0,
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// 1.0,
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// mid_transition_band,
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// trans_width,
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// gr::filter::firdes::win_type::WIN_KAISER,
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// beta);
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taps = gr::filter::firdes::low_pass(1.0,
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fs,
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acq_fs_decimated / 2.1,
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acq_fs_decimated / 2,
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gr::filter::firdes::win_type::WIN_HAMMING);
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gr::basic_block_sptr fir_filter_ccf_ = gr::filter::fir_filter_ccf::make(decimation, taps);
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std::pair<std::map<std::string, gr::basic_block_sptr>::iterator, bool> ret;
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ret = acq_resamplers_.insert(std::pair<std::string, gr::basic_block_sptr>(map_key, fir_filter_ccf_));
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if (ret.second == true)
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{
|
|
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
|
|
acq_resamplers_.at(map_key), 0);
|
|
LOG(INFO) << "Created "
|
|
<< channels_.at(i)->implementation()
|
|
<< " acquisition resampler for RF channel " << std::to_string(signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Found existing "
|
|
<< channels_.at(i)->implementation()
|
|
<< " acquisition resampler for RF channel " << std::to_string(signal_conditioner_ID) << " with " << taps.size() << " taps and decimation factor of " << decimation;
|
|
}
|
|
|
|
top_block_->connect(acq_resamplers_.at(map_key), 0,
|
|
channels_.at(i)->get_left_block_acq(), 0);
|
|
|
|
std::shared_ptr<Channel> channel_ptr;
|
|
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
|
|
channel_ptr->acquisition()->set_resampler_latency((taps.size() - 1) / 2);
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
|
|
// resampler not required!
|
|
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
|
|
channels_.at(i)->get_left_block_acq(), 0);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Disabled acquisition resampler because the input sampling frequency is too low";
|
|
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
|
|
channels_.at(i)->get_left_block_acq(), 0);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
|
|
channels_.at(i)->get_left_block_acq(), 0);
|
|
}
|
|
top_block_->connect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
|
|
channels_.at(i)->get_left_block_trk(), 0);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << "Can't connect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i;
|
|
LOG(ERROR) << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
signal_conditioner_connected.at(selected_signal_conditioner_ID) = true; // notify that this signal conditioner is connected
|
|
DLOG(INFO) << "signal conditioner " << selected_signal_conditioner_ID << " connected to channel " << i;
|
|
}
|
|
#endif
|
|
// Signal Source > Signal conditioner >> Channels >> Observables
|
|
try
|
|
{
|
|
top_block_->connect(channels_.at(i)->get_right_block(), 0,
|
|
observables_->get_left_block(), i);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << "Can't connect channel " << i << " to observables";
|
|
LOG(ERROR) << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
|
|
// check for unconnected signal conditioners and connect null_sinks in order to provide configuration flexibility to multiband files or signal sources
|
|
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
|
|
{
|
|
for (size_t n = 0; n < sig_conditioner_.size(); n++)
|
|
{
|
|
if (signal_conditioner_connected.at(n) == false)
|
|
{
|
|
null_sinks_.push_back(gr::blocks::null_sink::make(sizeof(gr_complex)));
|
|
top_block_->connect(sig_conditioner_.at(n)->get_right_block(), 0,
|
|
null_sinks_.back(), 0);
|
|
LOG(INFO) << "Null sink connected to signal conditioner " << n << " due to lack of connection to any channel\n";
|
|
}
|
|
}
|
|
}
|
|
|
|
// Put channels fixed to a given satellite at the beginning of the vector, then the rest
|
|
std::vector<unsigned int> vector_of_channels;
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
unsigned int sat = 0;
|
|
try
|
|
{
|
|
sat = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
if (sat == 0)
|
|
{
|
|
vector_of_channels.push_back(i);
|
|
}
|
|
else
|
|
{
|
|
auto it = vector_of_channels.begin();
|
|
it = vector_of_channels.insert(it, i);
|
|
}
|
|
}
|
|
|
|
// Assign satellites to channels in the initialization
|
|
for (unsigned int& i : vector_of_channels)
|
|
{
|
|
std::string gnss_signal = channels_.at(i)->get_signal().get_signal_str(); // use channel's implicit signal
|
|
unsigned int sat = 0;
|
|
try
|
|
{
|
|
sat = configuration_->property("Channel" + std::to_string(i) + ".satellite", 0);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
if (sat == 0)
|
|
{
|
|
bool assistance_available;
|
|
float estimated_doppler;
|
|
double RX_time;
|
|
bool is_primary_freq;
|
|
channels_.at(i)->set_signal(search_next_signal(gnss_signal, false, is_primary_freq, assistance_available, estimated_doppler, RX_time));
|
|
}
|
|
else
|
|
{
|
|
std::string gnss_system;
|
|
Gnss_Signal signal_value;
|
|
switch (mapStringValues_[gnss_signal])
|
|
{
|
|
case evGPS_1C:
|
|
gnss_system = "GPS";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_GPS_1C_signals_.remove(signal_value);
|
|
break;
|
|
|
|
case evGPS_2S:
|
|
gnss_system = "GPS";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_GPS_2S_signals_.remove(signal_value);
|
|
break;
|
|
|
|
case evGPS_L5:
|
|
gnss_system = "GPS";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_GPS_L5_signals_.remove(signal_value);
|
|
break;
|
|
|
|
case evGAL_1B:
|
|
gnss_system = "Galileo";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_GAL_1B_signals_.remove(signal_value);
|
|
break;
|
|
|
|
case evGAL_5X:
|
|
gnss_system = "Galileo";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_GAL_5X_signals_.remove(signal_value);
|
|
break;
|
|
|
|
case evGLO_1G:
|
|
gnss_system = "Glonass";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_GLO_1G_signals_.remove(signal_value);
|
|
break;
|
|
|
|
case evGLO_2G:
|
|
gnss_system = "Glonass";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_GLO_2G_signals_.remove(signal_value);
|
|
break;
|
|
|
|
case evBDS_B1:
|
|
gnss_system = "Beidou";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_BDS_B1_signals_.remove(signal_value);
|
|
break;
|
|
|
|
case evBDS_B3:
|
|
gnss_system = "Beidou";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_BDS_B3_signals_.remove(signal_value);
|
|
break;
|
|
|
|
default:
|
|
LOG(ERROR) << "This should not happen :-(";
|
|
gnss_system = "GPS";
|
|
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
|
available_GPS_1C_signals_.remove(signal_value);
|
|
break;
|
|
}
|
|
|
|
channels_.at(i)->set_signal(signal_value);
|
|
}
|
|
}
|
|
|
|
// Connect the observables output of each channel to the PVT block
|
|
try
|
|
{
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
top_block_->connect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
|
|
top_block_->msg_connect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
|
|
}
|
|
|
|
top_block_->msg_connect(observables_->get_right_block(), pmt::mp("status"), channels_status_, pmt::mp("status"));
|
|
|
|
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("pvt_to_observables"), observables_->get_right_block(), pmt::mp("pvt_to_observables"));
|
|
top_block_->msg_connect(pvt_->get_left_block(), pmt::mp("status"), channels_status_, pmt::mp("status"));
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << "Can't connect observables to PVT";
|
|
LOG(ERROR) << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
|
|
// GNSS SYNCHRO MONITOR
|
|
if (enable_monitor_)
|
|
{
|
|
try
|
|
{
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
top_block_->connect(observables_->get_right_block(), i, GnssSynchroMonitor_, i);
|
|
}
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << "Can't connect observables to Monitor block";
|
|
LOG(ERROR) << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
#ifndef ENABLE_FPGA
|
|
// Activate acquisition in enabled channels
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
LOG(INFO) << "Channel " << i << " assigned to " << channels_.at(i)->get_signal();
|
|
if (channels_state_[i] == 1)
|
|
{
|
|
channels_.at(i)->start_acquisition();
|
|
LOG(INFO) << "Channel " << i << " connected to observables and ready for acquisition";
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Channel " << i << " connected to observables in standby mode";
|
|
}
|
|
}
|
|
#endif
|
|
connected_ = true;
|
|
LOG(INFO) << "Flowgraph connected";
|
|
top_block_->dump();
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::disconnect()
|
|
{
|
|
LOG(INFO) << "Disconnecting flowgraph";
|
|
|
|
if (!connected_)
|
|
{
|
|
LOG(INFO) << "flowgraph was not connected";
|
|
return;
|
|
}
|
|
connected_ = false;
|
|
// Signal Source (i) > Signal conditioner (i) >
|
|
int RF_Channels = 0;
|
|
int signal_conditioner_ID = 0;
|
|
#ifdef ENABLE_FPGA
|
|
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
|
|
{
|
|
for (int i = 0; i < sources_count_; i++)
|
|
{
|
|
try
|
|
{
|
|
// TODO: Remove this array implementation and create generic multistream connector
|
|
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
|
|
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
|
|
{
|
|
// Multichannel Array
|
|
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
|
|
{
|
|
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
|
|
// Include GetRFChannels in the interface to avoid read config parameters here
|
|
// read the number of RF channels for each front-end
|
|
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
|
|
|
|
for (int j = 0; j < RF_Channels; j++)
|
|
{
|
|
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1)
|
|
{
|
|
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
|
|
}
|
|
else
|
|
{
|
|
if (j == 0)
|
|
{
|
|
// RF_channel 0 backward compatibility with single channel sources
|
|
top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
|
|
}
|
|
else
|
|
{
|
|
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
|
|
top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
|
|
}
|
|
}
|
|
signal_conditioner_ID++;
|
|
}
|
|
}
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
}
|
|
#else
|
|
for (int i = 0; i < sources_count_; i++)
|
|
{
|
|
try
|
|
{
|
|
// TODO: Remove this array implementation and create generic multistream connector
|
|
// (if a signal source has more than 1 stream, then connect it to the multistream signal conditioner)
|
|
if (sig_source_.at(i)->implementation() == "Raw_Array_Signal_Source")
|
|
{
|
|
// Multichannel Array
|
|
for (int j = 0; j < GNSS_SDR_ARRAY_SIGNAL_CONDITIONER_CHANNELS; j++)
|
|
{
|
|
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(i)->get_left_block(), j);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
|
|
// Include GetRFChannels in the interface to avoid read config parameters here
|
|
// read the number of RF channels for each front-end
|
|
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
|
|
|
|
for (int j = 0; j < RF_Channels; j++)
|
|
{
|
|
if (sig_source_.at(i)->get_right_block()->output_signature()->max_streams() > 1 or sig_source_.at(i)->get_right_block()->output_signature()->max_streams() == -1)
|
|
{
|
|
top_block_->disconnect(sig_source_.at(i)->get_right_block(), j, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
|
|
}
|
|
else
|
|
{
|
|
if (j == 0)
|
|
{
|
|
// RF_channel 0 backward compatibility with single channel sources
|
|
top_block_->disconnect(sig_source_.at(i)->get_right_block(), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
|
|
}
|
|
else
|
|
{
|
|
// Multiple channel sources using multiple output blocks of single channel (requires RF_channel selector in call)
|
|
top_block_->disconnect(sig_source_.at(i)->get_right_block(j), 0, sig_conditioner_.at(signal_conditioner_ID)->get_left_block(), 0);
|
|
}
|
|
}
|
|
signal_conditioner_ID++;
|
|
}
|
|
}
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect signal source " << i << " to signal conditioner " << i << ": " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
#endif
|
|
|
|
#ifdef ENABLE_FPGA
|
|
if (configuration_->property(sig_source_.at(0)->role() + ".enable_FPGA", false) == false)
|
|
{
|
|
// disconnect the signal source to sample counter
|
|
// disconnect the sample counter to Observables
|
|
try
|
|
{
|
|
top_block_->disconnect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter_, 0);
|
|
top_block_->disconnect(ch_out_sample_counter_, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << "Can't disconnect sample counter";
|
|
LOG(ERROR) << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
try
|
|
{
|
|
top_block_->disconnect(ch_out_fpga_sample_counter_, 0, observables_->get_left_block(), channels_count_);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << "Can't connect FPGA sample counter";
|
|
LOG(ERROR) << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
#else
|
|
// disconnect the signal source to sample counter
|
|
// disconnect the sample counter to Observables
|
|
try
|
|
{
|
|
top_block_->disconnect(sig_conditioner_.at(0)->get_right_block(), 0, ch_out_sample_counter_, 0);
|
|
top_block_->disconnect(ch_out_sample_counter_, 0, observables_->get_left_block(), channels_count_); // extra port for the sample counter pulse
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << "Can't connect sample counter";
|
|
LOG(ERROR) << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
#endif
|
|
// Signal conditioner (selected_signal_source) >> channels (i) (dependent of their associated SignalSource_ID)
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
#ifndef ENABLE_FPGA
|
|
int selected_signal_conditioner_ID;
|
|
try
|
|
{
|
|
selected_signal_conditioner_ID = configuration_->property("Channel" + std::to_string(i) + ".RF_channel_ID", 0);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
try
|
|
{
|
|
top_block_->disconnect(sig_conditioner_.at(selected_signal_conditioner_ID)->get_right_block(), 0,
|
|
channels_.at(i)->get_left_block_trk(), 0);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect signal conditioner " << selected_signal_conditioner_ID << " to channel " << i << ": " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
#endif
|
|
// Signal Source > Signal conditioner >> Channels >> Observables
|
|
try
|
|
{
|
|
top_block_->disconnect(channels_.at(i)->get_right_block(), 0,
|
|
observables_->get_left_block(), i);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect channel " << i << " to observables: " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
|
|
try
|
|
{
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
top_block_->disconnect(observables_->get_right_block(), i, pvt_->get_left_block(), i);
|
|
if (enable_monitor_)
|
|
{
|
|
top_block_->disconnect(observables_->get_right_block(), i, GnssSynchroMonitor_, i);
|
|
}
|
|
top_block_->msg_disconnect(channels_.at(i)->get_right_block(), pmt::mp("telemetry"), pvt_->get_left_block(), pmt::mp("telemetry"));
|
|
}
|
|
top_block_->msg_disconnect(pvt_->get_left_block(), pmt::mp("pvt_to_observables"), observables_->get_right_block(), pmt::mp("pvt_to_observables"));
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect observables to PVT: " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
|
|
for (int i = 0; i < sources_count_; i++)
|
|
{
|
|
try
|
|
{
|
|
sig_source_.at(i)->disconnect(top_block_);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect signal source block " << i << " internally: " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
|
|
// Signal Source > Signal conditioner >
|
|
for (auto& sig : sig_conditioner_)
|
|
{
|
|
try
|
|
{
|
|
sig->disconnect(top_block_);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect signal conditioner block internally: " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
try
|
|
{
|
|
channels_.at(i)->disconnect(top_block_);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect channel " << i << " internally: " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
}
|
|
|
|
try
|
|
{
|
|
observables_->disconnect(top_block_);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect observables block internally: " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
|
|
// Signal Source > Signal conditioner >> Channels >> Observables > PVT
|
|
try
|
|
{
|
|
pvt_->disconnect(top_block_);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(INFO) << "Can't disconnect PVT block internally: " << e.what();
|
|
top_block_->disconnect_all();
|
|
return;
|
|
}
|
|
|
|
DLOG(INFO) << "blocks disconnected internally";
|
|
LOG(INFO) << "Flowgraph disconnected";
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::wait()
|
|
{
|
|
if (!running_)
|
|
{
|
|
LOG(WARNING) << "Can't apply wait. Flowgraph is not running";
|
|
return;
|
|
}
|
|
top_block_->wait();
|
|
DLOG(INFO) << "Flowgraph finished calculations";
|
|
running_ = false;
|
|
}
|
|
|
|
|
|
bool GNSSFlowgraph::send_telemetry_msg(const pmt::pmt_t& msg)
|
|
{
|
|
// Push ephemeris to PVT telemetry msg in port using a channel out port
|
|
// it uses the first channel as a message producer (it is already connected to PVT)
|
|
channels_.at(0)->get_right_block()->message_port_pub(pmt::mp("telemetry"), msg);
|
|
return true;
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::push_back_signal(const Gnss_Signal& gs)
|
|
{
|
|
switch (mapStringValues_[gs.get_signal_str()])
|
|
{
|
|
case evGPS_1C:
|
|
available_GPS_1C_signals_.remove(gs);
|
|
available_GPS_1C_signals_.push_back(gs);
|
|
break;
|
|
|
|
case evGPS_2S:
|
|
available_GPS_2S_signals_.remove(gs);
|
|
available_GPS_2S_signals_.push_back(gs);
|
|
break;
|
|
|
|
case evGPS_L5:
|
|
available_GPS_L5_signals_.remove(gs);
|
|
available_GPS_L5_signals_.push_back(gs);
|
|
break;
|
|
|
|
case evGAL_1B:
|
|
available_GAL_1B_signals_.remove(gs);
|
|
available_GAL_1B_signals_.push_back(gs);
|
|
break;
|
|
|
|
case evGAL_5X:
|
|
available_GAL_5X_signals_.remove(gs);
|
|
available_GAL_5X_signals_.push_back(gs);
|
|
break;
|
|
|
|
case evGLO_1G:
|
|
available_GLO_1G_signals_.remove(gs);
|
|
available_GLO_1G_signals_.push_back(gs);
|
|
break;
|
|
|
|
case evGLO_2G:
|
|
available_GLO_2G_signals_.remove(gs);
|
|
available_GLO_2G_signals_.push_back(gs);
|
|
break;
|
|
|
|
case evBDS_B1:
|
|
available_BDS_B1_signals_.remove(gs);
|
|
available_BDS_B1_signals_.push_back(gs);
|
|
break;
|
|
|
|
case evBDS_B3:
|
|
available_BDS_B3_signals_.remove(gs);
|
|
available_BDS_B3_signals_.push_back(gs);
|
|
break;
|
|
|
|
default:
|
|
LOG(ERROR) << "This should not happen :-(";
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::remove_signal(const Gnss_Signal& gs)
|
|
{
|
|
switch (mapStringValues_[gs.get_signal_str()])
|
|
{
|
|
case evGPS_1C:
|
|
available_GPS_1C_signals_.remove(gs);
|
|
break;
|
|
|
|
case evGPS_2S:
|
|
available_GPS_2S_signals_.remove(gs);
|
|
break;
|
|
|
|
case evGPS_L5:
|
|
available_GPS_L5_signals_.remove(gs);
|
|
break;
|
|
|
|
case evGAL_1B:
|
|
available_GAL_1B_signals_.remove(gs);
|
|
break;
|
|
|
|
case evGAL_5X:
|
|
available_GAL_5X_signals_.remove(gs);
|
|
break;
|
|
|
|
case evGLO_1G:
|
|
available_GLO_1G_signals_.remove(gs);
|
|
break;
|
|
|
|
case evGLO_2G:
|
|
available_GLO_2G_signals_.remove(gs);
|
|
break;
|
|
|
|
case evBDS_B1:
|
|
available_BDS_B1_signals_.remove(gs);
|
|
break;
|
|
|
|
case evBDS_B3:
|
|
available_BDS_B3_signals_.remove(gs);
|
|
break;
|
|
|
|
default:
|
|
LOG(ERROR) << "This should not happen :-(";
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
// project Doppler from primary frequency to secondary frequency
|
|
double GNSSFlowgraph::project_doppler(const std::string& searched_signal, double primary_freq_doppler_hz)
|
|
{
|
|
switch (mapStringValues_[searched_signal])
|
|
{
|
|
case evGPS_L5:
|
|
case evGAL_5X:
|
|
return (primary_freq_doppler_hz / FREQ1) * FREQ5;
|
|
break;
|
|
case evGPS_2S:
|
|
return (primary_freq_doppler_hz / FREQ1) * FREQ2;
|
|
break;
|
|
default:
|
|
return primary_freq_doppler_hz;
|
|
}
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::acquisition_manager(unsigned int who)
|
|
{
|
|
unsigned int current_channel;
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
current_channel = (i + who + 1) % channels_count_;
|
|
unsigned int sat_ = 0;
|
|
try
|
|
{
|
|
sat_ = configuration_->property("Channel" + std::to_string(current_channel) + ".satellite", 0);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[current_channel] == 0))
|
|
{
|
|
bool is_primary_freq = true;
|
|
bool assistance_available = false;
|
|
bool start_acquisition = false;
|
|
Gnss_Signal gnss_signal;
|
|
float estimated_doppler;
|
|
double RX_time;
|
|
|
|
if (sat_ == 0)
|
|
{
|
|
gnss_signal = search_next_signal(channels_[current_channel]->get_signal().get_signal_str(),
|
|
true,
|
|
is_primary_freq,
|
|
assistance_available,
|
|
estimated_doppler,
|
|
RX_time);
|
|
channels_[current_channel]->set_signal(gnss_signal);
|
|
start_acquisition = is_primary_freq or assistance_available or !configuration_->property("GNSS-SDR.assist_dual_frequency_acq", multiband_);
|
|
}
|
|
else
|
|
{
|
|
channels_[current_channel]->set_signal(channels_[current_channel]->get_signal());
|
|
start_acquisition = true;
|
|
}
|
|
|
|
if (start_acquisition == true)
|
|
{
|
|
channels_state_[current_channel] = 1;
|
|
acq_channels_count_++;
|
|
DLOG(INFO) << "Channel " << current_channel
|
|
<< " Starting acquisition " << channels_[current_channel]->get_signal().get_satellite()
|
|
<< ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
|
|
if (assistance_available == true and configuration_->property("GNSS-SDR.assist_dual_frequency_acq", multiband_))
|
|
{
|
|
channels_[current_channel]->assist_acquisition_doppler(project_doppler(channels_[current_channel]->get_signal().get_signal_str(), estimated_doppler));
|
|
}
|
|
else
|
|
{
|
|
// set Doppler center to 0 Hz
|
|
channels_[current_channel]->assist_acquisition_doppler(0);
|
|
}
|
|
#ifndef ENABLE_FPGA
|
|
channels_[current_channel]->start_acquisition();
|
|
#else
|
|
// create a task for the FPGA such that it doesn't stop the flow
|
|
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[current_channel]);
|
|
tmp_thread.detach();
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
push_back_signal(gnss_signal);
|
|
DLOG(INFO) << "Channel " << current_channel
|
|
<< " secondary frequency acquisition assistance not available in "
|
|
<< channels_[current_channel]->get_signal().get_satellite()
|
|
<< ", Signal " << channels_[current_channel]->get_signal().get_signal_str();
|
|
}
|
|
}
|
|
DLOG(INFO) << "Channel " << current_channel << " in state " << channels_state_[current_channel];
|
|
}
|
|
}
|
|
|
|
|
|
/*
|
|
* Applies an action to the flow graph
|
|
*
|
|
* \param[in] who Who generated the action:
|
|
* -> 0-199 are the channels IDs
|
|
* -> 200 is the control_thread dispatched by the control_thread apply_action
|
|
* -> 300 is the telecommand system (TC) for receiver control
|
|
* -> 400 - 599 is the TC channel control for channels 0-199
|
|
* \param[in] what What is the action:
|
|
* --- actions from channels ---
|
|
* -> 0 acquisition failed
|
|
* -> 1 acquisition successful
|
|
* -> 2 tracking lost
|
|
* --- actions from TC receiver control ---
|
|
* -> 10 TC request standby mode
|
|
* -> 11 TC request coldstart
|
|
* -> 12 TC request hotstart
|
|
* -> 13 TC request warmstart
|
|
* --- actions from TC channel control ---
|
|
* -> 20 stop channel
|
|
* -> 21 start channel
|
|
*/
|
|
void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
|
|
{
|
|
// todo: the acquisition events are initiated from the acquisition success or failure queued msg. If the acquisition is disabled for non-assisted secondary freq channels, the engine stops..
|
|
std::lock_guard<std::mutex> lock(signal_list_mutex_);
|
|
DLOG(INFO) << "Received " << what << " from " << who;
|
|
unsigned int sat = 0;
|
|
Gnss_Signal gs;
|
|
if (who < 200)
|
|
{
|
|
try
|
|
{
|
|
sat = configuration_->property("Channel" + std::to_string(who) + ".satellite", 0);
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
switch (what)
|
|
{
|
|
case 0:
|
|
gs = channels_[who]->get_signal();
|
|
DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << gs.get_satellite() << ", Signal " << gs.get_signal_str();
|
|
channels_state_[who] = 0;
|
|
if (acq_channels_count_ > 0)
|
|
{
|
|
acq_channels_count_--;
|
|
}
|
|
// call the acquisition manager to assign new satellite and start next acquisition (if required)
|
|
acquisition_manager(who);
|
|
// push back the old signal AFTER assigning a new one to avoid selecting the same signal
|
|
if (sat == 0)
|
|
{
|
|
push_back_signal(gs);
|
|
}
|
|
break;
|
|
case 1:
|
|
gs = channels_[who]->get_signal();
|
|
DLOG(INFO) << "Channel " << who << " ACQ SUCCESS satellite " << gs.get_satellite();
|
|
// If the satellite is in the list of available ones, remove it.
|
|
remove_signal(gs);
|
|
|
|
channels_state_[who] = 2;
|
|
if (acq_channels_count_ > 0)
|
|
{
|
|
acq_channels_count_--;
|
|
}
|
|
// call the acquisition manager to assign new satellite and start next acquisition (if required)
|
|
acquisition_manager(who);
|
|
break;
|
|
|
|
case 2:
|
|
gs = channels_[who]->get_signal();
|
|
DLOG(INFO) << "Channel " << who << " TRK FAILED satellite " << gs.get_satellite();
|
|
if (acq_channels_count_ < max_acq_channels_)
|
|
{
|
|
// try to acquire the same satellite
|
|
channels_state_[who] = 1;
|
|
acq_channels_count_++;
|
|
DLOG(INFO) << "Channel " << who << " Starting acquisition " << gs.get_satellite() << ", Signal " << gs.get_signal_str();
|
|
channels_[who]->set_signal(channels_[who]->get_signal());
|
|
#ifndef ENABLE_FPGA
|
|
channels_[who]->start_acquisition();
|
|
#else
|
|
// create a task for the FPGA such that it doesn't stop the flow
|
|
std::thread tmp_thread(&ChannelInterface::start_acquisition, channels_[who]);
|
|
tmp_thread.detach();
|
|
#endif
|
|
}
|
|
else
|
|
{
|
|
channels_state_[who] = 0;
|
|
LOG(INFO) << "Channel " << who << " Idle state";
|
|
if (sat == 0)
|
|
{
|
|
push_back_signal(channels_[who]->get_signal());
|
|
}
|
|
}
|
|
break;
|
|
case 10: // request standby mode
|
|
for (size_t n = 0; n < channels_.size(); n++)
|
|
{
|
|
if (channels_state_[n] == 1 or channels_state_[n] == 2) // channel in acquisition or in tracking
|
|
{
|
|
// recover the satellite assigned
|
|
Gnss_Signal gs_assigned = channels_[n]->get_signal();
|
|
push_back_signal(gs_assigned);
|
|
|
|
channels_[n]->stop_channel(); // stop the acquisition or tracking operation
|
|
channels_state_[n] = 0;
|
|
}
|
|
}
|
|
acq_channels_count_ = 0; // all channels are in standby now and no new acquisition should be started
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::priorize_satellites(const std::vector<std::pair<int, Gnss_Satellite>>& visible_satellites)
|
|
{
|
|
size_t old_size;
|
|
Gnss_Signal gs;
|
|
for (auto& visible_satellite : visible_satellites)
|
|
{
|
|
if (visible_satellite.second.get_system() == "GPS")
|
|
{
|
|
gs = Gnss_Signal(visible_satellite.second, "1C");
|
|
old_size = available_GPS_1C_signals_.size();
|
|
available_GPS_1C_signals_.remove(gs);
|
|
if (old_size > available_GPS_1C_signals_.size())
|
|
{
|
|
available_GPS_1C_signals_.push_front(gs);
|
|
}
|
|
|
|
gs = Gnss_Signal(visible_satellite.second, "2S");
|
|
old_size = available_GPS_2S_signals_.size();
|
|
available_GPS_2S_signals_.remove(gs);
|
|
if (old_size > available_GPS_2S_signals_.size())
|
|
{
|
|
available_GPS_2S_signals_.push_front(gs);
|
|
}
|
|
|
|
gs = Gnss_Signal(visible_satellite.second, "L5");
|
|
old_size = available_GPS_L5_signals_.size();
|
|
available_GPS_L5_signals_.remove(gs);
|
|
if (old_size > available_GPS_L5_signals_.size())
|
|
{
|
|
available_GPS_L5_signals_.push_front(gs);
|
|
}
|
|
}
|
|
else if (visible_satellite.second.get_system() == "Galileo")
|
|
{
|
|
gs = Gnss_Signal(visible_satellite.second, "1B");
|
|
old_size = available_GAL_1B_signals_.size();
|
|
available_GAL_1B_signals_.remove(gs);
|
|
if (old_size > available_GAL_1B_signals_.size())
|
|
{
|
|
available_GAL_1B_signals_.push_front(gs);
|
|
}
|
|
|
|
gs = Gnss_Signal(visible_satellite.second, "5X");
|
|
old_size = available_GAL_5X_signals_.size();
|
|
available_GAL_5X_signals_.remove(gs);
|
|
if (old_size > available_GAL_5X_signals_.size())
|
|
{
|
|
available_GAL_5X_signals_.push_front(gs);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::set_configuration(const std::shared_ptr<ConfigurationInterface>& configuration)
|
|
{
|
|
if (running_)
|
|
{
|
|
LOG(WARNING) << "Unable to update configuration while flowgraph running";
|
|
return;
|
|
}
|
|
if (connected_)
|
|
{
|
|
LOG(WARNING) << "Unable to update configuration while flowgraph connected";
|
|
}
|
|
configuration_ = configuration;
|
|
}
|
|
|
|
|
|
#ifdef ENABLE_FPGA
|
|
void GNSSFlowgraph::start_acquisition_helper()
|
|
{
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
if (channels_state_[i] == 1)
|
|
{
|
|
channels_.at(i)->start_acquisition();
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::perform_hw_reset()
|
|
{
|
|
// a stop acquisition command causes the SW to reset the HW
|
|
std::shared_ptr<Channel> channel_ptr;
|
|
|
|
for (uint32_t i = 0; i < channels_count_; i++)
|
|
{
|
|
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(i));
|
|
channel_ptr->tracking()->stop_tracking();
|
|
}
|
|
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(500));
|
|
|
|
channel_ptr = std::dynamic_pointer_cast<Channel>(channels_.at(0));
|
|
channel_ptr->acquisition()->stop_acquisition();
|
|
}
|
|
#endif
|
|
|
|
|
|
void GNSSFlowgraph::init()
|
|
{
|
|
/*
|
|
* Instantiates the receiver blocks
|
|
*/
|
|
auto block_factory = std::make_unique<GNSSBlockFactory>();
|
|
|
|
channels_status_ = channel_status_msg_receiver_make();
|
|
|
|
// 1. read the number of RF front-ends available (one file_source per RF front-end)
|
|
sources_count_ = configuration_->property("Receiver.sources_count", 1);
|
|
|
|
int RF_Channels = 0;
|
|
int signal_conditioner_ID = 0;
|
|
|
|
if (sources_count_ > 1)
|
|
{
|
|
for (int i = 0; i < sources_count_; i++)
|
|
{
|
|
std::cout << "Creating source " << i << '\n';
|
|
sig_source_.push_back(block_factory->GetSignalSource(configuration_.get(), queue_.get(), i));
|
|
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
|
|
// Include GetRFChannels in the interface to avoid read config parameters here
|
|
// read the number of RF channels for each front-end
|
|
RF_Channels = configuration_->property(sig_source_.at(i)->role() + ".RF_channels", 1);
|
|
std::cout << "RF Channels " << RF_Channels << '\n';
|
|
for (int j = 0; j < RF_Channels; j++)
|
|
{
|
|
sig_conditioner_.push_back(block_factory->GetSignalConditioner(configuration_.get(), signal_conditioner_ID));
|
|
signal_conditioner_ID++;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// backwards compatibility for old config files
|
|
sig_source_.push_back(block_factory->GetSignalSource(configuration_.get(), queue_.get(), -1));
|
|
// TODO: Create a class interface for SignalSources, derived from GNSSBlockInterface.
|
|
// Include GetRFChannels in the interface to avoid read config parameters here
|
|
// read the number of RF channels for each front-end
|
|
RF_Channels = configuration_->property(sig_source_.at(0)->role() + ".RF_channels", 0);
|
|
if (RF_Channels != 0)
|
|
{
|
|
for (int j = 0; j < RF_Channels; j++)
|
|
{
|
|
sig_conditioner_.push_back(block_factory->GetSignalConditioner(configuration_.get(), signal_conditioner_ID));
|
|
signal_conditioner_ID++;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// old config file, single signal source and single channel, not specified
|
|
sig_conditioner_.push_back(block_factory->GetSignalConditioner(configuration_.get(), -1));
|
|
}
|
|
}
|
|
|
|
observables_ = block_factory->GetObservables(configuration_.get());
|
|
// Mark old implementations as deprecated
|
|
std::string default_str("Default");
|
|
std::string obs_implementation = configuration_->property("Observables.implementation", default_str);
|
|
if ((obs_implementation == "GPS_L1_CA_Observables") || (obs_implementation == "GPS_L2C_Observables") ||
|
|
(obs_implementation == "Galileo_E1B_Observables") || (obs_implementation == "Galileo_E5A_Observables"))
|
|
{
|
|
std::cout << "WARNING: Implementation '" << obs_implementation << "' of the Observables block has been replaced by 'Hybrid_Observables'.\n";
|
|
std::cout << "Please update your configuration file.\n";
|
|
}
|
|
|
|
pvt_ = block_factory->GetPVT(configuration_.get());
|
|
// Mark old implementations as deprecated
|
|
std::string pvt_implementation = configuration_->property("PVT.implementation", default_str);
|
|
if ((pvt_implementation == "GPS_L1_CA_PVT") || (pvt_implementation == "Galileo_E1_PVT") || (pvt_implementation == "Hybrid_PVT"))
|
|
{
|
|
std::cout << "WARNING: Implementation '" << pvt_implementation << "' of the PVT block has been replaced by 'RTKLIB_PVT'.\n";
|
|
std::cout << "Please update your configuration file.\n";
|
|
}
|
|
|
|
auto channels = block_factory->GetChannels(configuration_.get(), queue_.get());
|
|
|
|
channels_count_ = static_cast<int>(channels->size());
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
std::shared_ptr<GNSSBlockInterface> chan_ = std::move(channels->at(i));
|
|
channels_.push_back(std::dynamic_pointer_cast<ChannelInterface>(chan_));
|
|
}
|
|
|
|
top_block_ = gr::make_top_block("GNSSFlowgraph");
|
|
|
|
mapStringValues_["1C"] = evGPS_1C;
|
|
mapStringValues_["2S"] = evGPS_2S;
|
|
mapStringValues_["L5"] = evGPS_L5;
|
|
mapStringValues_["1B"] = evGAL_1B;
|
|
mapStringValues_["5X"] = evGAL_5X;
|
|
mapStringValues_["1G"] = evGLO_1G;
|
|
mapStringValues_["2G"] = evGLO_2G;
|
|
mapStringValues_["B1"] = evBDS_B1;
|
|
mapStringValues_["B3"] = evBDS_B3;
|
|
|
|
// fill the signals queue with the satellites ID's to be searched by the acquisition
|
|
set_signals_list();
|
|
set_channels_state();
|
|
DLOG(INFO) << "Blocks instantiated. " << channels_count_ << " channels.";
|
|
|
|
/*
|
|
* Instantiate the receiver monitor block, if required
|
|
*/
|
|
enable_monitor_ = configuration_->property("Monitor.enable_monitor", false);
|
|
bool enable_protobuf = configuration_->property("Monitor.enable_protobuf", true);
|
|
if (configuration_->property("PVT.enable_protobuf", false) == true)
|
|
{
|
|
enable_protobuf = true;
|
|
}
|
|
std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
|
|
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
|
|
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
|
|
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
|
|
|
|
if (enable_monitor_)
|
|
{
|
|
GnssSynchroMonitor_ = gnss_synchro_make_monitor(channels_count_,
|
|
configuration_->property("Monitor.decimation_factor", 1),
|
|
configuration_->property("Monitor.udp_port", 1234),
|
|
udp_addr_vec, enable_protobuf);
|
|
}
|
|
}
|
|
|
|
|
|
std::vector<std::string> GNSSFlowgraph::split_string(const std::string& s, char delim)
|
|
{
|
|
std::vector<std::string> v;
|
|
std::stringstream ss(s);
|
|
std::string item;
|
|
|
|
while (std::getline(ss, item, delim))
|
|
{
|
|
*(std::back_inserter(v)++) = item;
|
|
}
|
|
|
|
return v;
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::set_signals_list()
|
|
{
|
|
// Set a sequential list of GNSS satellites
|
|
std::set<unsigned int>::const_iterator available_gnss_prn_iter;
|
|
|
|
// Create the lists of GNSS satellites
|
|
std::set<unsigned int> available_gps_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
|
|
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
|
|
29, 30, 31, 32};
|
|
|
|
std::set<unsigned int> available_sbas_prn = {123, 131, 135, 136, 138};
|
|
|
|
std::set<unsigned int> available_galileo_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
|
|
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28,
|
|
29, 30, 31, 32, 33, 34, 35, 36};
|
|
|
|
// Removing satellites sharing same frequency number(1 and 5, 2 and 6, 3 and 7, 4 and 6, 11 and 15, 12 and 16, 14 and 18, 17 and 21
|
|
std::set<unsigned int> available_glonass_prn = {1, 2, 3, 4, 9, 10, 11, 12, 18, 19, 20, 21, 24};
|
|
|
|
std::set<unsigned int> available_beidou_prn = {1, 2, 3, 4, 5, 6, 7, 8, 9, 10,
|
|
11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29,
|
|
30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49,
|
|
50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63};
|
|
|
|
std::string sv_list = configuration_->property("Galileo.prns", std::string(""));
|
|
|
|
if (sv_list.length() > 0)
|
|
{
|
|
// Reset the available prns:
|
|
std::set<unsigned int> tmp_set;
|
|
boost::tokenizer<> tok(sv_list);
|
|
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
|
|
boost::lexical_cast<unsigned int, std::string>);
|
|
|
|
if (!tmp_set.empty())
|
|
{
|
|
available_galileo_prn = tmp_set;
|
|
}
|
|
}
|
|
|
|
std::string sv_banned = configuration_->property("GNSS-SDR.Galileo_banned_prns", std::string(""));
|
|
if (!sv_banned.empty())
|
|
{
|
|
std::stringstream ss(sv_banned);
|
|
while (ss.good())
|
|
{
|
|
std::string substr;
|
|
std::getline(ss, substr, ',');
|
|
try
|
|
{
|
|
auto banned = static_cast<unsigned int>(std::stoi(substr));
|
|
available_galileo_prn.erase(banned);
|
|
}
|
|
catch (const std::invalid_argument& ia)
|
|
{
|
|
std::cerr << "Invalid argument at GNSS-SDR.Galileo_banned_prns configuration parameter: " << ia.what() << '\n';
|
|
}
|
|
catch (const std::out_of_range& oor)
|
|
{
|
|
std::cerr << "Out of range at GNSS-SDR.Galileo_banned_prns configuration parameter: " << oor.what() << '\n';
|
|
}
|
|
}
|
|
}
|
|
|
|
sv_list = configuration_->property("GPS.prns", std::string(""));
|
|
|
|
if (sv_list.length() > 0)
|
|
{
|
|
// Reset the available prns:
|
|
std::set<unsigned int> tmp_set;
|
|
boost::tokenizer<> tok(sv_list);
|
|
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
|
|
boost::lexical_cast<unsigned int, std::string>);
|
|
|
|
if (!tmp_set.empty())
|
|
{
|
|
available_gps_prn = tmp_set;
|
|
}
|
|
}
|
|
|
|
sv_banned = configuration_->property("GNSS-SDR.GPS_banned_prns", std::string(""));
|
|
if (!sv_banned.empty())
|
|
{
|
|
std::stringstream ss(sv_banned);
|
|
while (ss.good())
|
|
{
|
|
std::string substr;
|
|
std::getline(ss, substr, ',');
|
|
try
|
|
{
|
|
auto banned = static_cast<unsigned int>(std::stoi(substr));
|
|
available_gps_prn.erase(banned);
|
|
}
|
|
catch (const std::invalid_argument& ia)
|
|
{
|
|
std::cerr << "Invalid argument at GNSS-SDR.GPS_banned_prns configuration parameter: " << ia.what() << '\n';
|
|
}
|
|
catch (const std::out_of_range& oor)
|
|
{
|
|
std::cerr << "Out of range at GNSS-SDR.GPS_banned_prns configuration parameter: " << oor.what() << '\n';
|
|
}
|
|
}
|
|
}
|
|
|
|
sv_list = configuration_->property("SBAS.prns", std::string(""));
|
|
|
|
if (sv_list.length() > 0)
|
|
{
|
|
// Reset the available prns:
|
|
std::set<unsigned int> tmp_set;
|
|
boost::tokenizer<> tok(sv_list);
|
|
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
|
|
boost::lexical_cast<unsigned int, std::string>);
|
|
|
|
if (!tmp_set.empty())
|
|
{
|
|
available_sbas_prn = tmp_set;
|
|
}
|
|
}
|
|
|
|
sv_banned = configuration_->property("GNSS-SDR.SBAS_banned_prns", std::string(""));
|
|
if (!sv_banned.empty())
|
|
{
|
|
std::stringstream ss(sv_banned);
|
|
while (ss.good())
|
|
{
|
|
std::string substr;
|
|
std::getline(ss, substr, ',');
|
|
try
|
|
{
|
|
auto banned = static_cast<unsigned int>(std::stoi(substr));
|
|
available_sbas_prn.erase(banned);
|
|
}
|
|
catch (const std::invalid_argument& ia)
|
|
{
|
|
std::cerr << "Invalid argument at GNSS-SDR.SBAS_banned_prns configuration parameter: " << ia.what() << '\n';
|
|
}
|
|
catch (const std::out_of_range& oor)
|
|
{
|
|
std::cerr << "Out of range at GNSS-SDR.SBAS_banned_prns configuration parameter: " << oor.what() << '\n';
|
|
}
|
|
}
|
|
}
|
|
|
|
sv_list = configuration_->property("Glonass.prns", std::string(""));
|
|
|
|
if (sv_list.length() > 0)
|
|
{
|
|
// Reset the available prns:
|
|
std::set<unsigned int> tmp_set;
|
|
boost::tokenizer<> tok(sv_list);
|
|
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
|
|
boost::lexical_cast<unsigned int, std::string>);
|
|
|
|
if (!tmp_set.empty())
|
|
{
|
|
available_glonass_prn = tmp_set;
|
|
}
|
|
}
|
|
|
|
sv_banned = configuration_->property("GNSS-SDR.Glonass_banned_prns", std::string(""));
|
|
if (!sv_banned.empty())
|
|
{
|
|
std::stringstream ss(sv_banned);
|
|
while (ss.good())
|
|
{
|
|
std::string substr;
|
|
std::getline(ss, substr, ',');
|
|
try
|
|
{
|
|
auto banned = static_cast<unsigned int>(std::stoi(substr));
|
|
available_glonass_prn.erase(banned);
|
|
}
|
|
catch (const std::invalid_argument& ia)
|
|
{
|
|
std::cerr << "Invalid argument at GNSS-SDR.Glonass_banned_prns configuration parameter: " << ia.what() << '\n';
|
|
}
|
|
catch (const std::out_of_range& oor)
|
|
{
|
|
std::cerr << "Out of range at GNSS-SDR.Glonass_banned_prns configuration parameter: " << oor.what() << '\n';
|
|
}
|
|
}
|
|
}
|
|
|
|
sv_list = configuration_->property("Beidou.prns", std::string(""));
|
|
|
|
if (sv_list.length() > 0)
|
|
{
|
|
// Reset the available prns:
|
|
std::set<unsigned int> tmp_set;
|
|
boost::tokenizer<> tok(sv_list);
|
|
std::transform(tok.begin(), tok.end(), std::inserter(tmp_set, tmp_set.begin()),
|
|
boost::lexical_cast<unsigned int, std::string>);
|
|
|
|
if (!tmp_set.empty())
|
|
{
|
|
available_beidou_prn = tmp_set;
|
|
}
|
|
}
|
|
|
|
sv_banned = configuration_->property("GNSS-SDR.Beidou_banned_prns", std::string(""));
|
|
if (!sv_banned.empty())
|
|
{
|
|
std::stringstream ss(sv_banned);
|
|
while (ss.good())
|
|
{
|
|
std::string substr;
|
|
std::getline(ss, substr, ',');
|
|
try
|
|
{
|
|
auto banned = static_cast<unsigned int>(std::stoi(substr));
|
|
available_beidou_prn.erase(banned);
|
|
}
|
|
catch (const std::invalid_argument& ia)
|
|
{
|
|
std::cerr << "Invalid argument at GNSS-SDR.Beidou_banned_prns configuration parameter: " << ia.what() << '\n';
|
|
}
|
|
catch (const std::out_of_range& oor)
|
|
{
|
|
std::cerr << "Out of range at GNSS-SDR.Beidou_banned_prns configuration parameter: " << oor.what() << '\n';
|
|
}
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_1C.count", 0) > 0)
|
|
{
|
|
// Loop to create GPS L1 C/A signals
|
|
for (available_gnss_prn_iter = available_gps_prn.cbegin();
|
|
available_gnss_prn_iter != available_gps_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_GPS_1C_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
|
|
std::string("1C"));
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_2S.count", 0) > 0)
|
|
{
|
|
// Loop to create GPS L2C M signals
|
|
for (available_gnss_prn_iter = available_gps_prn.cbegin();
|
|
available_gnss_prn_iter != available_gps_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_GPS_2S_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
|
|
std::string("2S"));
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_L5.count", 0) > 0)
|
|
{
|
|
// Loop to create GPS L5 signals
|
|
for (available_gnss_prn_iter = available_gps_prn.cbegin();
|
|
available_gnss_prn_iter != available_gps_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_GPS_L5_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
|
|
std::string("L5"));
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_SBAS.count", 0) > 0)
|
|
{
|
|
// Loop to create SBAS L1 C/A signals
|
|
for (available_gnss_prn_iter = available_sbas_prn.cbegin();
|
|
available_gnss_prn_iter != available_sbas_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_SBAS_1C_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("SBAS"), *available_gnss_prn_iter),
|
|
std::string("1C"));
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_1B.count", 0) > 0)
|
|
{
|
|
// Loop to create the list of Galileo E1B signals
|
|
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
|
|
available_gnss_prn_iter != available_galileo_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_GAL_1B_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
|
|
std::string("1B"));
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_5X.count", 0) > 0)
|
|
{
|
|
// Loop to create the list of Galileo E5a signals
|
|
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
|
|
available_gnss_prn_iter != available_galileo_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_GAL_5X_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
|
|
std::string("5X"));
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_1G.count", 0) > 0)
|
|
{
|
|
// Loop to create the list of GLONASS L1 C/A signals
|
|
for (available_gnss_prn_iter = available_glonass_prn.cbegin();
|
|
available_gnss_prn_iter != available_glonass_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_GLO_1G_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
|
|
std::string("1G"));
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_2G.count", 0) > 0)
|
|
{
|
|
// Loop to create the list of GLONASS L2 C/A signals
|
|
for (available_gnss_prn_iter = available_glonass_prn.cbegin();
|
|
available_gnss_prn_iter != available_glonass_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_GLO_2G_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
|
|
std::string("2G"));
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_B1.count", 0) > 0)
|
|
{
|
|
// Loop to create the list of BeiDou B1C signals
|
|
for (available_gnss_prn_iter = available_beidou_prn.cbegin();
|
|
available_gnss_prn_iter != available_beidou_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_BDS_B1_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter),
|
|
std::string("B1"));
|
|
}
|
|
}
|
|
|
|
if (configuration_->property("Channels_B3.count", 0) > 0)
|
|
{
|
|
// Loop to create the list of BeiDou B1C signals
|
|
for (available_gnss_prn_iter = available_beidou_prn.cbegin();
|
|
available_gnss_prn_iter != available_beidou_prn.cend();
|
|
available_gnss_prn_iter++)
|
|
{
|
|
available_BDS_B3_signals_.emplace_back(
|
|
Gnss_Satellite(std::string("Beidou"), *available_gnss_prn_iter),
|
|
std::string("B3"));
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
void GNSSFlowgraph::set_channels_state()
|
|
{
|
|
std::lock_guard<std::mutex> lock(signal_list_mutex_);
|
|
max_acq_channels_ = configuration_->property("Channels.in_acquisition", channels_count_);
|
|
if (max_acq_channels_ > channels_count_)
|
|
{
|
|
max_acq_channels_ = channels_count_;
|
|
LOG(WARNING) << "Channels_in_acquisition is bigger than number of channels. Variable acq_channels_count_ is set to " << channels_count_;
|
|
}
|
|
channels_state_.reserve(channels_count_);
|
|
for (int i = 0; i < channels_count_; i++)
|
|
{
|
|
if (i < max_acq_channels_)
|
|
{
|
|
channels_state_.push_back(1);
|
|
}
|
|
else
|
|
{
|
|
channels_state_.push_back(0);
|
|
}
|
|
DLOG(INFO) << "Channel " << i << " in state " << channels_state_[i];
|
|
}
|
|
acq_channels_count_ = max_acq_channels_;
|
|
DLOG(INFO) << acq_channels_count_ << " channels in acquisition state";
|
|
}
|
|
|
|
|
|
bool GNSSFlowgraph::is_multiband() const
|
|
{
|
|
bool multiband = false;
|
|
if (configuration_->property("Channels_1C.count", 0) > 0)
|
|
{
|
|
if (configuration_->property("Channels_2S.count", 0) > 0)
|
|
{
|
|
multiband = true;
|
|
}
|
|
if (configuration_->property("Channels_L5.count", 0) > 0)
|
|
{
|
|
multiband = true;
|
|
}
|
|
}
|
|
if (configuration_->property("Channels_1B.count", 0) > 0)
|
|
{
|
|
if (configuration_->property("Channels_5X.count", 0) > 0)
|
|
{
|
|
multiband = true;
|
|
}
|
|
}
|
|
if (configuration_->property("Channels_1G.count", 0) > 0)
|
|
{
|
|
if (configuration_->property("Channels_2G.count", 0) > 0)
|
|
{
|
|
multiband = true;
|
|
}
|
|
}
|
|
if (configuration_->property("Channels_B1.count", 0) > 0)
|
|
{
|
|
if (configuration_->property("Channels_B3.count", 0) > 0)
|
|
{
|
|
multiband = true;
|
|
}
|
|
}
|
|
return multiband;
|
|
}
|
|
|
|
|
|
Gnss_Signal GNSSFlowgraph::search_next_signal(const std::string& searched_signal,
|
|
const bool pop,
|
|
bool& is_primary_frequency,
|
|
bool& assistance_available,
|
|
float& estimated_doppler,
|
|
double& RX_time)
|
|
{
|
|
is_primary_frequency = false;
|
|
assistance_available = false;
|
|
Gnss_Signal result;
|
|
bool found_signal = false;
|
|
switch (mapStringValues_[searched_signal])
|
|
{
|
|
case evGPS_1C:
|
|
// todo: assist the satellite selection with almanac and current PVT here (rehuse priorize_satellite function used in control_thread)
|
|
result = available_GPS_1C_signals_.front();
|
|
available_GPS_1C_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_GPS_1C_signals_.push_back(result);
|
|
}
|
|
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
|
|
break;
|
|
|
|
case evGPS_2S:
|
|
if (configuration_->property("Channels_1C.count", 0) > 0)
|
|
{
|
|
// 1. Get the current channel status map
|
|
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
|
|
// 2. search the currently tracked GPS L1 satellites and assist the GPS L2 acquisition if the satellite is not tracked on L2
|
|
for (auto& current_status : current_channels_status)
|
|
{
|
|
if (std::string(current_status.second->Signal) == "1C")
|
|
{
|
|
std::list<Gnss_Signal>::iterator it2;
|
|
it2 = std::find_if(std::begin(available_GPS_2S_signals_), std::end(available_GPS_2S_signals_),
|
|
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
|
|
|
|
if (it2 != available_GPS_2S_signals_.end())
|
|
{
|
|
estimated_doppler = static_cast<float>(current_status.second->Carrier_Doppler_hz);
|
|
RX_time = current_status.second->RX_time;
|
|
// 3. return the GPS L2 satellite and remove it from list
|
|
result = *it2;
|
|
if (pop)
|
|
{
|
|
available_GPS_2S_signals_.erase(it2);
|
|
}
|
|
found_signal = true;
|
|
assistance_available = true;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
// fallback: pick the front satellite because there is no tracked satellites in L1 to assist L2
|
|
if (found_signal == false)
|
|
{
|
|
result = available_GPS_2S_signals_.front();
|
|
available_GPS_2S_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_GPS_2S_signals_.push_back(result);
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
result = available_GPS_2S_signals_.front();
|
|
available_GPS_2S_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_GPS_2S_signals_.push_back(result);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case evGPS_L5:
|
|
if (configuration_->property("Channels_1C.count", 0) > 0)
|
|
{
|
|
// 1. Get the current channel status map
|
|
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
|
|
// 2. search the currently tracked GPS L1 satellites and assist the GPS L5 acquisition if the satellite is not tracked on L5
|
|
for (auto& current_status : current_channels_status)
|
|
{
|
|
if (std::string(current_status.second->Signal) == "1C")
|
|
{
|
|
std::list<Gnss_Signal>::iterator it2;
|
|
it2 = std::find_if(std::begin(available_GPS_L5_signals_), std::end(available_GPS_L5_signals_),
|
|
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
|
|
|
|
if (it2 != available_GPS_L5_signals_.end())
|
|
{
|
|
estimated_doppler = static_cast<float>(current_status.second->Carrier_Doppler_hz);
|
|
RX_time = current_status.second->RX_time;
|
|
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
|
|
// 3. return the GPS L5 satellite and remove it from list
|
|
result = *it2;
|
|
if (pop)
|
|
{
|
|
available_GPS_L5_signals_.erase(it2);
|
|
}
|
|
found_signal = true;
|
|
assistance_available = true;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
// fallback: pick the front satellite because there is no tracked satellites in L1 to assist L5
|
|
if (found_signal == false)
|
|
{
|
|
result = available_GPS_L5_signals_.front();
|
|
available_GPS_L5_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_GPS_L5_signals_.push_back(result);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case evGAL_1B:
|
|
result = available_GAL_1B_signals_.front();
|
|
available_GAL_1B_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_GAL_1B_signals_.push_back(result);
|
|
}
|
|
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
|
|
break;
|
|
|
|
case evGAL_5X:
|
|
if (configuration_->property("Channels_1B.count", 0) > 0)
|
|
{
|
|
// 1. Get the current channel status map
|
|
std::map<int, std::shared_ptr<Gnss_Synchro>> current_channels_status = channels_status_->get_current_status_map();
|
|
// 2. search the currently tracked Galileo E1 satellites and assist the Galileo E5 acquisition if the satellite is not tracked on E5
|
|
for (auto& current_status : current_channels_status)
|
|
{
|
|
if (std::string(current_status.second->Signal) == "1B")
|
|
{
|
|
std::list<Gnss_Signal>::iterator it2;
|
|
it2 = std::find_if(std::begin(available_GAL_5X_signals_), std::end(available_GAL_5X_signals_),
|
|
[&](Gnss_Signal const& sig) { return sig.get_satellite().get_PRN() == current_status.second->PRN; });
|
|
|
|
if (it2 != available_GAL_5X_signals_.end())
|
|
{
|
|
estimated_doppler = static_cast<float>(current_status.second->Carrier_Doppler_hz);
|
|
RX_time = current_status.second->RX_time;
|
|
// std::cout << " Channel: " << it->first << " => Doppler: " << estimated_doppler << "[Hz] \n";
|
|
// 3. return the Gal 5X satellite and remove it from list
|
|
result = *it2;
|
|
if (pop)
|
|
{
|
|
available_GAL_5X_signals_.erase(it2);
|
|
}
|
|
found_signal = true;
|
|
assistance_available = true;
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
// fallback: pick the front satellite because there is no tracked satellites in E1 to assist E5
|
|
if (found_signal == false)
|
|
{
|
|
result = available_GAL_5X_signals_.front();
|
|
available_GAL_5X_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_GAL_5X_signals_.push_back(result);
|
|
}
|
|
}
|
|
break;
|
|
|
|
case evGLO_1G:
|
|
result = available_GLO_1G_signals_.front();
|
|
available_GLO_1G_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_GLO_1G_signals_.push_back(result);
|
|
}
|
|
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
|
|
break;
|
|
|
|
case evGLO_2G:
|
|
result = available_GLO_2G_signals_.front();
|
|
available_GLO_2G_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_GLO_2G_signals_.push_back(result);
|
|
}
|
|
break;
|
|
|
|
case evBDS_B1:
|
|
result = available_BDS_B1_signals_.front();
|
|
available_BDS_B1_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_BDS_B1_signals_.push_back(result);
|
|
}
|
|
is_primary_frequency = true; // indicate that the searched satellite signal belongs to "primary" link (L1, E1, B1, etc..)
|
|
break;
|
|
|
|
case evBDS_B3:
|
|
result = available_BDS_B3_signals_.front();
|
|
available_BDS_B3_signals_.pop_front();
|
|
if (!pop)
|
|
{
|
|
available_BDS_B3_signals_.push_back(result);
|
|
}
|
|
break;
|
|
|
|
default:
|
|
LOG(ERROR) << "This should not happen :-(";
|
|
result = available_GPS_1C_signals_.front();
|
|
if (pop)
|
|
{
|
|
available_GPS_1C_signals_.pop_front();
|
|
}
|
|
break;
|
|
}
|
|
return result;
|
|
}
|